MR-SLAM: Mixed Reality for Multi-Robot Mapping
A new mixed reality system called MR-SLAM has been created for simultaneous localization and mapping (SLAM) involving multiple robots. An operator utilizes a Meta Quest 3 headset to remotely control three simulated TurtleBot3 robots, employing passthrough view that incorporates real-world occlusion. The system features spatially anchored dashboard panels that show mapping progress in real time. Each robot operates its own SLAM Toolbox instance, with occupancy grids combined instantly on a Robot Operating System 2 (ROS 2) backend. Over five evaluation sessions lasting 9 minutes each, the system achieved a scanning rate of 8.83 ± 0.16 Hz, mapped 17.9 ± 0.8 m² of combined occupancy, and reached 94.7 ± 0.5% occupancy consistency between robot pairs, addressing the difficulty of spatial awareness in traditional 2D interfaces, relevant for building inspections and monitoring warehouse aisles.
Key facts
- MR-SLAM is a mixed reality system for multi-robot SLAM.
- Operator uses Meta Quest 3 headset to teleoperate three TurtleBot3 robots.
- Spatially anchored dashboard panels show mapping progress.
- Each robot runs SLAM Toolbox with real-time occupancy grid merging via ROS 2.
- Five 9-minute evaluation sessions conducted.
- Scans delivered at 8.83 ± 0.16 Hz.
- Mapped 17.9 ± 0.8 m² of merged occupancy.
- Cross-instance occupancy consistency of 94.7 ± 0.5%.
Entities
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